Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: added output_trim() and read() functions 

these make using rcmap in the plane code easier
This commit is contained in:
Andrew Tridgell 2013-06-03 16:12:02 +10:00
parent 033828aeb6
commit c0058bbb03
2 changed files with 15 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/RC_Channel/RC_Channel.cpp
View File

@ -336,17 +336,28 @@ RC_Channel::norm_output()
return ret;
}
void RC_Channel::output()
void RC_Channel::output() const
{
hal.rcout->write(_ch_out, radio_out);
}
void RC_Channel::output_trim() const
{
hal.rcout->write(_ch_out, radio_trim);
}
void
RC_Channel::input()
{
radio_in = hal.rcin->read(_ch_out);
}
uint16_t
RC_Channel::read() const
{
return hal.rcin->read(_ch_out);
}
void
RC_Channel::enable_out()
{

4
libraries/RC_Channel/RC_Channel.h
View File

@ -95,7 +95,9 @@ public:
int16_t pwm_to_range_dz(uint16_t dead_zone);
int16_t range_to_pwm();
void output();
void output() const;
void output_trim() const;
uint16_t read() const;
void input();
void enable_out();